| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an apparatus or the like capable of inducing the exercise of a user by an appropriate rhythm corresponding to the exercise rhythm of the user after the change even when it is suddenly changed. <P>SOLUTION: According to the walking assisting apparatus 200 of this invention, a first vibrator x to be mutually drawn with a hip joint angular velocity (exercise vibrator) d<SB>ϕH</SB>/dt of the user in the form of reflecting an intrinsic angular velocity ω<SB>M</SB>is generated. Also, on the basis of the phase difference θ<SB>HM</SB>of the hip joint angular velocity d<SB>ϕH</SB>/dt and the first vibrator x, a new intrinsic angular velocity ω<SB>M</SB>is set. Further, a second vibrator y to be vibrated by the rhythm reflecting the intrinsic angular velocity ω<SB>M</SB>is generated. Then, an inducing vibrator z is generated on the basis of the second vibrator y, and torque corresponding to the inducing vibrator z acts on the body of the user. Also, when the size of the cycle change of the hip joint angular velocity d<SB>ϕH</SB>/dt exceeds a threshold δ, the second vibrator y to be vibrated by the rhythm reflecting the angular velocity ω<SB>M1</SB>of the first vibrator x instead of the intrinsic angular velocity ω<SB>M</SB>is generated. <P>COPYRIGHT: (C)2007,JPO&INPIT |
